An adaptive constraint-lifting framework achieves asymptotic tracking, closed-loop stability, and forward invariance of safe sets for uncertain strict-feedback nonlinear systems using Lyapunov analysis.
Adaptive and safe control of nonlinear systems with multiplicative uncertainty and state constraints,
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Adaptive Constraint-Lifting Control with Stability and Invariance Guarantees
An adaptive constraint-lifting framework achieves asymptotic tracking, closed-loop stability, and forward invariance of safe sets for uncertain strict-feedback nonlinear systems using Lyapunov analysis.